Operator controlled electrical output signal device with variable feel and hold feedback and automated calibration and learnable performance optimization

ABSTRACT

An output signal device and method that provides the operator force feedback similar to a pilot control joystick. These force feedback regions include free play, dead-band start of modulation, modulation, fore-warning bumper and hold near max angle. This output signal device may also vary the fore-warning feel and hold positions to be at any angle. This output signal device uses force sensing as the signal and has force slope changes used as auto-calibration of the output signal. This improves signal accuracy and provides a service prognostic signal. The prognostic signal may be used to activate redundant sensor. The variable force feedback may improve operation on rough terrain. The force feedback, may allow more productive operating positions to be learned. This enables productivity and other important job site criteria such as fuel usage to be optimized by interactive communication with this output signal device.

CROSS-REFERENCE TO RELATED APPLICATIONS

The present application is a continuation of U.S. application Ser. No.15/075,442 filed Mar. 21, 2016, entitled “Operator Controlled ElectricalOutput Signal Device With Variable Feel and Hold Feedback and AutomatedCalibration and Learnable Performance Optimization,” which is a divisionof U.S. application Ser. No. 14/169,108 filed Jan. 30, 2014, entitled“Operator Controlled Electrical Output Signal Device With Variable Feeland Hold Feedback and Automated Calibration and Learnable PerformanceOptimization,” and claims the benefit of U.S. Provisional ApplicationNo. 61/758,489, filed Jan. 30, 2013, entitled “Operator ControlledElectrical Output Signal Device With Variable Feel and Hold Feedback andAutomated Calibration and Learnable Performance Optimization,” all ofwhich are hereby incorporated by reference in their entirety.

BACKGROUND OF THE INVENTION

The present invention generally relates to an operator controlled signaloutput device. More specifically, the present invention relates to sucha device having variable feel and hold feedback, automatic calibration,and learnable performance optimization.

Some prior art devices are able to provide variable feel such as the“Operator Controlled Electrical Output Signal Devices” shown in U.S.Pat. No. 5,875,682. However, a drawback with current devices is that theelectromagnetic hold is created with a small moment arm. This requireslarge electric coils, which take up space, cost and heat. On the otherhand, if the coils are kept small, then the hold force is too low.

Additionally, sometimes an external bump of the vehicle being controlledmay cause the position to move towards hold. This may not be desired bythe operator.

To address this concern the current field of technology adds notchesinto the coil face. This may create clicking feedback to the operatorthat is not smooth and may not be desired.

Also the current field uses force sensing resistors, but they areconfigured on torsional springs. This configuration is based on a singlepre-loaded spring. This means that the force feedback to the operatordoes not have the typical free play, dead band and start of spring forceranges that are typical with pilot input devices. This torsional springis different than most current pilot control input devices. This meansthat there is no part in common with current pilot control joysticks,which is undesirable for ease of training operators and intuitiveunderstanding of the controls. Also the torsional spring may notcompletely align with the force sensing resistor which may cause stressthat reduces the sensor life below a desired level. Alternatively, theprior art may use force sensing but not have multiple springs to createsometimes desired operation force feedback. The prior art may also use apilot control which may have the desired operation force feedback butthis requires pilot supply and tank lines that take up cab space and addsystem cost.

Some electronic output devices use buttons to trigger functions such asimplement float. However, this may cause inadvertent implement suddendrop motions as compared to pilot controls that have detent forewarningbumpers.

Other electrical output devices use other types of sensors, such as Halleffect or other types of position sensors. These electrical outputdevices are not able to auto calibrate for improved accuracy. They alsoare hard to configure redundant sensing for application that require asecondary sensing system.

Additionally, these input devices do not offer variable feel feedbacknor lever position optimization and learnable feedback to the operator.

BRIEF SUMMARY OF THE INVENTION

One or more of the embodiments of the present invention provide aJoystick Electronic System (JSE) that provides the operator forcefeedback similar to a pilot control joystick. These force feedbackregions include free play, dead-band start of modulation, modulation,fore-warning bumper and hold near max angle. The JSE may also vary thefore-warning feel and hold positions to be at any angle. The JSE usesforce sensing as the signal and has force slope changes usedauto-calibration the output signal. This improves signal accuracy andprovides a service prognostic signal. The prognostic signal may be usedto activate redundant sensor.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 illustrates an exterior view of an embodiment of the JoystickElectronic System (JSE) according to a first embodiment of theinvention.

FIG. 2 illustrates a rotated, cut-away view of the JSE of FIG. 1.

FIG. 3 illustrates a detailed cut away of the JSE of FIG. 1.

FIG. 4 is a diagram showing an input torque vs. angle of actuationcurve.

FIG. 5 illustrates a detailed cut away of a second embodiment of theJSE.

FIG. 6 is a diagram showing an input torque vs. angle of actuationcurve, similar to that shown in FIG. 4.

FIG. 7 illustrates an exterior view of a third embodiment of the JSE.

FIG. 8 illustrates a rotated, cut-away view of the JSE of FIG. 7.

FIG. 9 illustrates a detailed cut away of the JSE of FIG. 7.

FIG. 10 is a diagram showing an input torque vs. angle of actuationcurve, similar to that shown in FIG. 6.

FIG. 11 illustrates automatic calibration, prognostic, and redundantsensors that may be added to any of the embodiments discussed above.

FIG. 12 illustrates a diagram showing a FSR voltage vs. angle curveincluding the first null inflection point and second null inflectionpoint.

FIG. 13 illustrates how the present JSE may be used to remotely operateconstruction equipment at a job site.

FIG. 14 is a diagram showing an input torque vs. angle of actuationcurve, similar to that shown in FIG. 10.

FIG. 15 illustrates an exterior view of a compact JSE according to oneembodiment of the invention.

FIG. 16 illustrates a detailed view of the compact JSE of FIG. 15.

DETAILED DESCRIPTION OF THE INVENTION

One or more embodiments of the present invention address the above shortcomings, issues and concerns of the current field. Hereafter, one ormore embodiments of the present invention may also be referred to asJoystick Electronic System or JSE.

The JSE uses force sensing in a linear (not torsion) application ofload. This allows the pivot mechanism to be common with current pilotoutput joysticks. The pivot mechanism then actuates a linear plungerthat has various linear springs and loads connected. These spring loadsinclude: return, bias, modulation and compliant type loads. The resultis typical feel feedback that is similar to current pilot controljoysticks and single lever devices (well known in the field).

As further described below, detent bumper mechanisms and hold coils maybe included. This provides the added feature of force feedback toprevent inadvertent full lever motion and improve operator performance.

Then, upon full lever motion the hold coil may hold the lever inposition reducing or eliminating the arm force required by the operator.This hold at full lever position may be electrically activated andde-activated providing additional functionality.

The variable hold and force feedback coils are configured on a largespherical cup. This increases the holding moment arm such that theholding force is large enough to not move when the vehicle has externalg-loads. This larger force is also sometimes desired for feedback to theoperator.

The variable hold force may be used for both warning bumper feel to theoperator and as variable hold of the handle lever at various angles. Thevariable warning bumper may use inputs from other JSE's or from thevehicle or from the job site. This allows a Central Processing Unit(CPU) to position the warning bumper feel feedback at optimum and/ordesirable positions. This may be used to reduce engine lug, optimizefuel noise made or vehicle performance, for example. The variable holdfeature may reduce an operator signal position to a reduced positionthat is more optimum during a particular construction cycle.

The input used to create the output signal is preferably linear forcesensing. This may be done, for example, using force sensing resistors(FSR). These FSR pads have many cells so that the signal generation isvery reliable. If a few of the cells are damaged, the JSE mayautomatically adjust the output signal and use the cells that remain.This automatic calibration feature also improves the accuracy of thedevice.

Sometimes an application requires the signal generation to be redundant.This kind of parallel logic may be accomplished by stacking an extra FSRpad in series with the primary FSR signal pad.

The automatic calibration feature may also be used as serviceprognostics and for switching the signal from the primary to thesecondary sensors. A series stacking of input pads is a configurationadvantage over all other electric output signal devices that useposition sensing.

One embodiment of the JSE includes a pivot mechanism, a spring andplunger mechanism and a force sensing mechanism as shown in the appendedFigures. The pivot method may be a typical u-joint for joystick or pivotpin for single axis devices, for example. This embodiment does notinclude the hold feature nor the variable feel feedback features (whichare included in the second and third embodiments discussed below,respectively). The lever effort torque versus angle of this firstembodiment includes the typical: free-play, dead band, modulation range,and jump-up regions. This is similar to current pilot output joystickdevices. These variations in lever efforts are known to operators andare desired in electrical output signal device.

The second embodiment of the JSE includes the hold at a pre-determinedangle and a forewarning “bumper” feedback force to the operator. Againthese features are known to operators using pilot output joysticks andare desired on applications of an electric output signal device. Thisforewarning force feedback allows the operator to avoid triggering asudden motion such as implement float position. The hold feature thenallows the operator to keep a special application such as float ineffect. This reduces the arm force required and therefore reducesoperator fatigue. This embodiment has hold coils that may need to bealigned. Therefore the pivot mechanism may be a spherical pivot jointfor reduced undesired motion. The spherical pivot mechanism may have apin in a slot to prevent or limit twist motion.

The third embodiment of the JSE includes the variable force feedback. Inthis embodiment, the force felt by the operator may be varied to anyamount from zero to full at any angle. The hold at full angle may be setat any angle. Also the “bump” feature may be programmed using othervehicle parameters. For example, when the vehicle motion is smooth thefeel feedback forces may be low. When the vehicle motion is rough, theforce feedback may be increased. Some operators prefer lighter effortsand others more heavy efforts. Further, the machine being operated mayhave various materials being handled and various applications. Theamount of feel feedback may be varied with the: operator, the machine,the material and the various applications as further described below.Additionally, some applications have safety limits such as max speed ofa winch motor. The variable force may be used to prevent operation atthat is above predetermined safe limits. Some operating limits vary withother parameters such as temperature. To prevent component damage thesafe operating limits may vary with parameters such as operatingtemperature. Laser plane, GPS Global Position Sensing, cut-to-contour,vision systems and others all may send signal to and receive signalsfrom the JSE's on one and multiple machines. The variable force to movethe joystick may be used to help prevent unwanted machine operations andmay also be used to optimize desired work done. This type of feedback issafe because the operator may over-ride the variable force by applyingmore push or pull force on the JSE.

When a lever is released, it may typically over shoot the zero holdposition and actuate the opposite direction. Additionally, a leverovershoot may cause a machine motion that actually creates another leverovershoot. This may be sensed by the rate of change of angle positionand a force programmed near zero such that the lever can't actuate theopposite direction. The alignment of the spherical cup and the pivotpoint is used to apply various amounts of motion hold forces. Therefore,this embodiment may also use the spherical pivot that has the pin orball to limit twist motion.

A fourth configuration of the JSE applies to the first, second and thirdand sixth embodiments. More specifically, when an application needsextra reliability for safety or other known reasons, the JSE may haveone or more redundant signal sensor added in one or any of thedirections measured. This is done by adding another force sensing pad inseries with the primary force sensing signal pad. The typical accuracyof a force sensing pad is 10%. This may be reduced to about 1% by usingthe slope changes of the output signal. When the slope changes at startposition creating an inflection point after the free-play region, thismay be calibrated using electronic null adjustment. Then when the slopeagain changes at jump-up position this second inflection point may alsobe sensed. The subtraction of the jump-up and the start inflection pointpositions may be used as gain adjustment. This active null and gainadjustments improves the overall accuracy of a typical electric outputsignal device from 10% to 1%. Then over time if some of the forcesensing cells are damaged and/or the pivot mechanism and/or the contactpoint have wear, the null and gain may be continuously adjusted. Thenwhen the null and gain is adjusted more than a pre-determined amount,say 10%, the control may send out a prognostic service signal. Then ifpresent the control may switch from the primary force sensing signal tothe secondary signal. The accuracy improvement logic may also be applieddirectly to embodiments one, two, three and six with only a single forcesensing pad in each JSE operating directions.

The fifth embodiment of the JSE applies to the third and fourthembodiments. In this embodiment, the signal output from one or moreJSE's in either analog or digital form may be communicated by eitherwired or wireless communication to a CPU(s). Additionally, other inputsand outputs from one or more vehicles and the typical constructionjobsite(s) may also be communicated in known manor to the CPU(s). Theseinput/outputs may include but not limited to: JSEs, valve positions, GPS(global position sensing), other local position sensing signals, laserplane, accelerometer, engine speed vehicle speed, sound sensors, circuitpressures, cylinder positions, pedal positions, lever positions, andswitch positions, etc.

The input feel may be increased by the CPU at any angle such that theinput torque from the operator is increased or felt by the operator.This force increase may serve as a bumper feel feedback to the operator.A simple example is when one JSE has a high input another JSE may havethe bumper feel feedback position reduced so that system flow prioritymay go to the one of the other JSE input functions. Also once anoperator makes an input, the CPU may calculate a more optimum positionfor that input.

A typical example of this is a repeated loading cycle. When a bucket isnearing a pre-determined level position the rack-back lever position mayhave the hold reduced to a lesser angle. Then when the bucket is leveland the rack-back is slid into hold position the bucket stop of rackmotion may be more smooth preventing dirt from falling out. Thisreducing of the rack-back may be felt by the operators hand and theoperator may use this to make other inputs such as shifting from reverseto forward. The operator may also learn the improved lever positions sothat the operator's inputs on a similar cycle are improved.

Once the bucket is level it typically also needs to be raised to a dumpheight. This is typically done while the vehicle is moving forward. Thistakes engine power management. The raise speed may be slid into areduced position to provide more engine power to vehicle propel. Powermanagement may also be used to improve: fuel, noise and emissions. Alsothe raise speed may be slid to a position that puts the bucket at dumpheight just before the vehicle needs to stop at the truck or hopper. Theoperator may also push a handle button to signal the CPU to create orturn off a bumper or hold position. In all cases the input is safebecause it is initiated by the vehicle control operator. Also theoperator may always override a lever held at an angle by applying alever centering force or by hitting a hold release button.

Thus, the first embodiment shows a joystick that may produce a feelcurve for this electric output signal device that is very similar tothat of a pilot pressure output signal device currently used in manyapplications. The curve shows the typical torque values and angle valuesfor the free-play, dead band, modulation range and jump-up regions.

The second embodiment shows a joystick configuration that includes theforewarning bumper and hold at near full angle. The curve of levereffort versus angle adds the forewarning bumper load and the hold nearfull angle as a negative load.

The third embodiment shows a joystick configuration that includes thevariable force feedback feature. The curve of lever efforts may bevaried for various applications. The hold may be at any angle.Forewarning bump may be at any angle. The velocity of lever motion maybe used to produce a holding force near hold that prevents the handlefrom overshooting in the opposite direction.

The fourth embodiment uses any of the first three embodiments, the sixthembodiment, or any other embodiments. The control module may detect thenear vertical slope of the start position. This may be used to adjustnull. Then when the signal is above mid-point and the slope is againdetected as near vertical the jump-up position may be noted. Then thejump-up position minus the start position may then be noted as the gain.This null and gain adjustments may then be used to improve the accuracyof the device. It may also be used to send a prognostic signal when theunit needs service. It also may be used to switch the signal used fromthe primary sensor to the secondary sensor. More or fewer redundantsensors may be configured on actuation directions.

The fifth embodiment applies to the variable hold embodiments three andfour. The CPU may provide feedback to the operator in the form of inputbump feel at predetermined positions. The CPU may also reduce an inputlever position by reducing the variable hold voltage such that the leverslides to a reduced predetermined angle. This sliding of the leverhandle is another form of feedback to the operator to help optimize thevehicle functions. The operator may use buttons to turn on or off thebump and slide features and also to set them at new lever positions.

FIG. 1 illustrates an exterior view of an embodiment of the JoystickElectronic System (JSE) 100 according to a first embodiment of theinvention. The JSE 100 includes a user interaction portion 110, aflexible boot 120, and attachment plate 130, and a control portion 140.Additionally, the user interaction portion 110 includes a first topbutton 112, a second top button 114, and a trigger button 116.

FIG. 2 illustrates a rotated, cut-away view of the JSE 100 of FIG. 1.FIG. 2 also shows a detail region 210 that is presented in a close-upview in FIG. 3.

FIG. 3 illustrates a detailed cut away of the JSE 100 of FIG. 1. Asshown in FIG. 3, the JSE 100 includes a handle assembly 305, a boot 310,a pivot assembly 315, a pivot point 317, a displacement system such as aforce sensing cartridge 318, a body 380, a FSR signal connector 385, acontrol module 390, and wire harness connector 395. The force sensingcartridge 318 includes a plug 320, a displacement setscrew pin 322, areturn spring 325, a plunger 330, a spring retainer 335, a slit retainer340, a modulation spring 345, a cup 350, a bias spring 355, a compliantwasher 360, a Force Sensing Resistor (FSR) retainer 365, a FSR 370, andan adapter 375.

In operation, the handle assembly 305 connects to the user interactionportion 110 and is responsive to user displacement of the userinteraction portion 110. The handle assembly preferably includesactuation and may include buttons as illustrated above.

The boot 310 surrounds the other components shown in FIG. 3 and acts asa dust and moisture cover.

The pivot assembly 315 allows the handle assembly 305 to pivot aroundthe pivot point 317 relative to the body 380. The pivot assembly may bea u-joint or spherical type joint for example.

The force sensing cartridge 318 includes the plug 320 in contact with ornear contact with the displacement setscrew pin 322. The displacementsetscrew pins 322 are rigidly connected to the handle assembly. Thus,the plug 320 may push against the displacement setscrew pins 322 to movethe handle assembly and the handle motion may move the pin 322. Asfurther described below, there is a plug 320 on either side of the pivotpoint 317. The plugs 320 may be displaced upward or downward in order topivot the handle assembly 305 about the pivot point 317. For example, inthe embodiment shown in FIG. 3, to pivot the handle assemblycounterclockwise, the plug on the right may be displaced upward until itreaches the free-play position then the handle is in hold centerposition. A handle pivoted counterclockwise may be moved clockwise untilthe left plug reaches its free-play region and again the handle is inhold position. The operator may move the handle in the counter clockwisedirection and the left plug 320 makes contact and creates downwardmotion of the left cartridge 318 and a clockwise movement to the handlemakes contact with the right plug 320 and causes downward motion of theright cartridge.

The force sensing cartridge 318 also includes a plunger 330 that may bepushed by the plug 320 downward from a Hold position to a Full Shiftposition. As shown in FIG. 3, the plunger 330 is connected to the plug320 and thus the plug 320 moves with the plunger 330. The return spring325 operates to reset the plunger 330 to the hold position when the loaddown on the plug 320 is less than the loads up from the springs 325,345, 355 and compliant washer 360 as further described below.

The spring retainer 335 and retainer split 340 operate together topre-load the modulation spring 345. The modulation spring 345 is usedfor linear force input.

The cup 350 centers the spring retainer 335 and the bias spring 355. Thegap between the pin 322 and the plug 320 is the free-play region andwhen contact is made the dead band region begins. The force at thisstart of dead band is higher because of pre-load on the return spring325.

As the plug 320 moves down the retainers 355, 340, spring 345 and cup350 compress the bias spring 355. When the cup 350 contacts thecompliant washer 360 the dead band region is over and the modulationregion begins. The force rate of change has a slope change at the startof this modulation region. When the plug 320 pushes the split retainers340 down against the modulation spring 345 there is compression of themodulation spring 325. The gap between the retainers 340 and 335reduces. When contact is made between the bottom of retainers 340 andthe step in the middle of 335 there is direct contact made on thecompliant washer 360. The effective spring rate of the compliant washer360 may be significantly higher than the springs 345 and 355. Thissudden increase in slope caused by the high spring rate on the compliantwasher 360 starts the jump up region. This second force inflection pointis at the end of the modulation region. Thus there are force slopeinflection points at the start and end of the modulation region.

The FSR 370 provides a force sensing signal relative to the pivotaldisplacement of the handle assembly 305. This force signal has one ormore start inflection points at start of the modulation range and ajump-up inflection point at the end of the modulation range, created bythe motion and mechanism described above. The FSR 370 is maintained inposition by the adapter 375 and FSR retainer 365

The FSR signal connector 385 relays the FSR signal from the FSR 370 tothe control module 390. The wire harness connector 395 connects thecontrol module 390 to the CPU, shown below.

In one example of operation of the JSE, the handle assembly 305 is movedby a user and takes up the adjusted clearance or free-play between thepivot assembly 315 and the top plug 320. This is known as the free-playregion.

The contact with the plug 320 causes the plunger 330 to move downagainst the return spring 325. This starts the Dead band region. Puttingit another away, at this angle of deflection, the force to angle curveshown in FIG. 4 below is in the region identified as the dead bandregion. Next, as the angular displacement is increased, the inner parts(retainer split 340, modulation spring 345, and cup 350) in contact withthe spring retainer 335 all move down together against the bias spring355. When the cup 350 contacts the compliant washer 360 the dead bandregion is over and the modulation range begins.

The split spring retainers 340 then slide on the cup 350 compressing themodulation spring 345. This modulation range continues until the bottomof the split retainers 340 contact the shoulder on the cup 350. Thisthen changes the spring rate from the modulation spring 345 to that ofthe compliant washer 360. This sudden increase in spring rate starts theJump-up region of the curve shown in FIG. 4.

FIG. 4 is a diagram 400 showing an input torque vs. angle of actuationcurve 410. The horizontal axis illustrates the angle degrees ofdisplacement of the handle assembly from its initial position. Thevertical axis illustrates input torque measured in Newton-meters. Asshown in FIG. 4, the diagram 400 includes four regions, a free playregion 420, a dead band region 430, a modulation region 440 and a jumpup region 450.

In the free play region 420, the user may increase the torque applied tothe JSE from zero to 0.40 Nm with a minimal angular deflection of thehandle assembly. Thus, small torque forces are mostly ignored and/orfiltered out by the JSE. This may be desirable to the user so thatbumping and jostling of the cabin that often occurs on the work site,which may cause the user to displace the handle assembly undesirably,does not translate into angular movement of the handle assembly.

In the dead band region 430, the angular deflection changes quickly witha small increase in applied torque. This may produce a desirable rapid“turn on” effect to a user. This provides torque of force feedback tothe operator's hand that the JSE is about to produce a signal thatcreates an implement of other vehicle motion. The torque differencesfrom free-play to dead-band to modulation forms a familiar“ready-set-go” feedback to the operators hand that is common on pilotcontrols and very useful in productive vehicle operation.

In the modulation region 440, angular displacement proceedssubstantially uniformly with increasing torque. The modulation regionthus represents the typical “working region” during which a user may beoperating the JSE.

In the jump-up region 450, the torque needed to produce an angulardisplacement greatly increases. Thus, the jump-up region 450 may be usedto provide tactile feedback to an operator that the controlled motion isnearing the end of its operable range, for example.

The return spring may at any angle return the handle to the holdposition that is in the free-play region. Return is whenever theoperator input force is lower than the net springs 325, 345, 355 andwasher force 360 and friction forces of the boot 310 and the othermoving parts. Also return to a lower angle may be done by the operatorapplying a pull instead of push force on the handle 305. A lever let-gois when the operator hand force is removed and the spring forces 345 and355 return the handle to hold or free-play position.

FIG. 5 illustrates a detailed cut away of a second embodiment of theJSE. Similar to the JSE shown in FIG. 3, the JSE 500 includes a handleassembly 505, a boot 510, a pivot assembly 515, a pivot point 517, adisplacement system such as a force sensing cartridge 518, a body 580, aFSR signal connector 585, a control module 590, and wire harnessconnector 595. The force sensing cartridge 518 includes a plug 520, adisplacement setscrew pin 522, a return spring 525, a plunger 530, aspring retainer 535, a retainer split 540, a modulation spring 545, acup 550, a bias spring 555, a compliant washer 560, a Force SensingResistor (FSR) retainer 565, a FSR 570, and an adapter 575. All of theseelements function generally similarly to those discussed above withregard to the JSE 100 of FIG. 3.

However, the JSE 500 additionally includes detent bumper system 501 anda hold coil system 502. The hold coil system 502 includes a hold coilwire 596, a hold coil assembly 597, a hold clapper plate 598, and aclapper spring 599. The detent bumper system 501 includes an actuationpin 591, a detent bumper assembly 592, and a detent spring 593.

In operation, the hold coil assembly 597 may be an electromagnetic holdcoil that, when activated, generates a magnetic attraction with the holdclapper plate 598 in order to provide a resistance to a force attemptingto angularly displace the handle assembly. The hold coil assembly 597may be actuated by power provided by the hold coil wire 596. The holdclapper plate 598 may be centered by the clapper spring 599.

The clapper plate 598 is retained by a spherical portion on theactuation pin 591. This allows the hold coil magnetic force to hold thehandle 505 at a predetermined position. This position of the handle willbe held until the electrical power to the hold coil 597 is reduced orthe operator pulls the handle out of hold region. This pull-out regionis short and is the transition from hold region to the return region.

Additionally, the detent bumper assembly may provide a forewarning bumpin force to a user. This may be provided by the detent bumper assembly592 and the detent spring 593. The detent bumper assembly 592 contactsthe top of the clapper washer 598. The detent spring 593 has a pre-loadthat creates the bump force.

In one example of the operation of the second embodiment of the JSE, thehandle assembly 505 is moved to the left and goes through the free play,dead band and modulation regions as previously described. Then the holdclapper plate 598 contacts the top of the hold coil assembly 597 andstarts to pivot. This then causes contact of the clapper plate 598 withthe bottom tip of the detent bumper assembly 592.

Inside of the detent 592 there is a pre-loaded spring 593. This contactthen starts the Forewarning Bumper Feel Region. This detent bumper 592is adjustable and is typically adjusted just prior to the jump-upregion. The jump-up region was previously described. Further motion ofthe handle allows the clapper 598 to align with the hold coil 597. Themagnetic force then starts the hold region of the curve show in FIG. 6.A pull force is required to de-latch the coil in the pull-out region.Then the return spring 325 causes a positive force on the handle to holdthe angle or the control of the handle assembly returns to hold or thefree play region.

FIG. 6 is a diagram 600 showing an input torque vs. angle of actuationcurve 610, similar to that shown in FIG. 4. As with FIG. 4, thehorizontal axis illustrates the angle degrees of displacement of thehandle assembly from its initial position. The vertical axis illustratesinput torque measured in Newton-meters. As shown in FIG. 6, the diagram600 includes the four regions shown in FIG. 4 (a free play region 420, adead band region 430, a modulation region 440 and a jump up region 450)as well as the addition of a fore warning bumper feel region 660, a holdregion 670, a pull-out region 680, and a return region 690.

In the fore warning bumper feel region 660, the torque needed to producean angular displacement greatly increases. Thus, the fore warning bumperfeel region 660 may be used to provide a tactile forewarning to anoperator that the controlled motion is nearing the end of its operablerange, for example. This also forewarns that the jump-up region is aboutto begin. The jump-up region sometimes actuates sudden vehicle implementmotions such as implement float. When a vehicle implement like a bladefor example is supported by the ground the float function is not suddenbut if float is actuated when the implement is above the ground suddeninadvertent drop may occur. The forewarning bump feedback force mayprevent the inadvertent drop.

In the hold region 670, once the full angle of displacement has beenreached, the user no longer needs to apply force to maintain the angle.Further, once the user wishes to move the handle assembly out of thehold region, the user must apply a force opposite the direction ofdisplacement of the handle assembly. This is illustrated in FIG. 6 asthe negative force shown in the lower portion of the curve.Additionally, as shown, the hold region allows some displacement fromthe actual hold position, such as 1-5% of angle, before the hold isreleased.

Once the user has applied sufficient force to move the angulardisplacement out of the hold full angle region 670. The handle is in thereturn region. In this region the operator must apply a positive forceon the handle 505 or the handle will return to the hold or free-playposition.

FIG. 7 illustrates an exterior view of a third embodiment of the JSE.The JSE 700 of FIG. 7 is generally similar to the JSE 100 of FIG. 1 andincludes the components shown in FIG. 1, but additional components asfurther discussed below.

FIG. 8 illustrates a rotated, cut-away view of the JSE 700 of FIG. 7.FIG. 8 also shows a detail region 810 that is presented in a close-upview in FIG. 9.

FIG. 9 illustrates a detailed cut away of the JSE 700 of FIG. 7. Similarto the JSE shown in FIG. 1, the JSE 700 includes a handle assembly 905,a pivot assembly 915, a pivot point 917, a displacement system such as aforce sensing cartridge 918, a body 980, a FSR signal connector 985, acontrol module 990, and wire harness connector 995. The force sensingcartridge 918 includes a plug 920, a displacement setscrew pin 922, areturn spring 925, a plunger 930, a spring retainer 935, a retainersplit 940, a modulation spring 945, a cup 950, a bias spring 955, acompliant washer 960, a Force Sensing Resistor (FSR) retainer 965, a FSR970, and an adapter 975. All of these elements function generallysimilarly to those discussed above with regard to the JSE 100 of FIG. 3.

However, in the JSE 900 of FIG. 9, the boot 310 has been replaced by aspherical cup 910.

Additionally, the JSE 900 includes a variable feedback feel torque andlatching system 901 including a spherical face coil assembly 996, a coilbracket 997, a snap retainer ring 998, a bracket bolt 999, a plasticcover 991, and a cover bolt 992.

In operation, the spherical face coil assembly 996 may be energized withelectrical power. This creates an attractive force between the betweencup 910 and the coil 996. The face of the coil 996 is spherical to matchthat on the inside of the cup.

In operation, the handle assembly 905 may be moved in any directioncausing one or two of the force sensing cartridges 918 to deflect andcreate an output signal. The spherical cup 910 is preferably made from amagnetic material so the spherical coil 996 may produce a significantattractive force in order to restrict and/or control displacement of thehandle assembly 905. This force may be at a large radius so that theresulting torque is high enough to hold the handle assembly at anyangle. The snap retainer ring 998 holds the coil 996 close to thespherical cup 910 such that when there is an electric current directedto the coil and the cup they may contact and align centers. This allowsone actuation direction to be held at any angle while an adjacentactuation direction may be made to move normally. Alternatively, anadjacent actuation direction may also be held at any angle. The hold atany angle forms the variable hold region. In one embodiment the operatormay override this hold by moving the handle or by hitting a button torelease or reduce the magnetic hold force.

In one embodiment, the angle of deflection selected for a hold regionmay be selected by a user of the handle assembly. For example, a usermay enter an angle selection mode by positioning the handle assembly ata desired position and then actuating a button or switch. The selectedangle may be determined by the force sensing cartridges and then stored.For example, the selected angle may be stored in a local control system,a memory, or an on-board CPU or the JSE 900 may be internally adjusted.Alternatively, the selected angle may be relayed to a remotecommunications and/or control system for storage and/or control of theJSE.

The coil bracket 997 positions the coils 996 so that the coils 996contact the cup 910. The snap retainer ring 998 holds the coils 996 ontothe coil bracket 997. The bracket bolt 999 attaches the coil bracket 997to the JSE. The plastic cover 991 acts as a dust and moisture cover. Thecover bolt 992 connects the plastic cover 991 to the JSE.

FIG. 10 is a diagram 1000 showing an input torque vs. angle of actuationcurve 1010, similar to that shown in FIG. 6. As with FIG. 6, thehorizontal axis illustrates the angle degrees of displacement of thehandle assembly from its initial position. The vertical axis illustratesinput torque measured in Newton-meters. As shown in FIG. 10, the diagram1000 includes the regions shown in FIG. 6 including a free play region420, a dead band region 430, a modulation region 440 and a jump upregion 450. Similarly, the fore warning bumper feel region 660 of FIG. 6is also shown. However, FIG. 10 also includes a variable hold region1065, a pull-out region 1070, and a return region 1075.

In operation, the fore warning bumper feel region 660 operates generallysimilarly to the fore warning bumper feel region 660 of FIG. 6, butwhile the fore warning bumper feel region 660 of FIG. 6 providesforewarning of the maximum angular displacement, the fore warning bumperfeel region 660 of FIG. 10 indicates that a user may select any angledisplacement to start receiving a fore warning bumper feel. This may bemore productive on light weight material such as snow being handled bythe vehicle.

Similarly, the variable hold region 1065 operates generally similarly tothe hold region 670 of FIG. 6, but while the hold region 670 of FIG. 6holds the JSE at the maximum angular displacement, the variable holdregion 1065 indicates that a user may cause the JSE to hold at anyuser-selected angle of displacement.

Further, the pull-out region 1070 may be seen vary in angulardisplacement depending on the user's selection of the variable holdregion. In the pull-out region 1070, the user applies a negative torqueto overcome the hold of the handle assembly at a specific angulardisplacement. Next, in the return region 1075, the torque applies by theuser again becomes proportional to angular displacement. In general thefore warning bumper may be electronically generated at any angle.Normally this is done just prior to a float or other function that mighthave sudden motion such as quick drop. Then once in a float function thehandle may be held by the hold coil. This allows the float function tooccur at any position that might be more efficient for the operatingconditions, but still maintain the forewarning and hold features of apre-set float. Also the float may be set at one angle with its ownforewarning feel and then quick drop at another angle with its ownforewarning feel. While one or both the float and the quick drops retainthe hands off hold feature. Also the hold may be reduced such that thehandle slides to a new reduced angle hold position. This may be used tooptimize performance or limit engine lug for example. This slide actionof the handle is another form of feedback to the operator. This may beused on repeated cycles to optimize performance of other criteria suchas noise, emissions and fuel usage.

FIG. 11 illustrates automatic calibration, prognostic, and redundantsensors that may be added to any of the embodiments discussed above.FIG. 11 includes a primary FSR 1110, a secondary FSR 1120, a primary FSRwire connection 1112, and a secondary FSR wire connection 1122. Eitheror both of the FSRs may alternatively be a strain gage. But FSR havemany cells and may have more of a gradual failure mode.

As discussed above, the JSE may have a redundant FSR. When the slopechanges at the start position this may be calibrated using electronicnull adjustment. Then, when the slope again changes at jump-up positionthis may also be sensed. The subtraction of the jump-up and the startposition may be used as gain adjustment.

In one embodiment, in order to improve reliability the primary FSR 1110may be accompanied by one or more secondary FSR 1120. These sensors 1110and 1120 may be stacked on top of each other or in series. Redundancyfor force sensing is in series whereas redundancy for position sensorsis in parallel. The auto calibration of the primary FSR 1110 may be usedto switch the output signal to the secondary FSR 1120. The initial nearvertical slope in the output signal shown is FIG. 14 may be used to findthe change in slope point by determining the point 1220 where the slopechanges substantially. This point is used as an electronic nulladjustment. The output changes slope again at point 1230. The differencebetween these two points 1220 and 1230 used to calculate gain. The nulland gain adjustments are used to improve the accuracy of the signal.This may adjust for normal and abnormal wear. For example, by graduallyadjusting the gain upward to compensate for degradation. Then when thetotal adjustment reaches a predetermined level a prognostic signal maybe generated. This may be used to signal the operator and or contactservice or a service log. The prognostic signal may also be used toswitch from the primary FSR 1110 to the secondary FSR 1120.

FIG. 12 illustrates a diagram 1200 showing a FSR voltage vs. angle curve1210 including the first null inflection point 1220 and second nullinflection point 1230. As discussed above subtraction of the first nullpoint 1220 from the second null point 1230 provides a gain adjustmentand/or calibration—in this case approximately 3.5 volts.

Additionally, when one or both of the null or gain adjustments exceeds apredetermined amount, the system may recognize that the JSE is nearingfailure and/or should be replaced and transmit a prognostic servicesignal, for example to a control system or a maintenance system.Additionally or alternatively, the JSE may switch to the redundant FSR.

FIG. 13 illustrates how the present JSE may be used to remotely operateconstruction equipment at a job site. FIG. 13 includes a JSE 1310, acentral processing unit (CPU) 1320 in communication with the JSE 1310over a CPU communication link 1315, and a remote machine 1330 such as aconstruction vehicle that is in communication with the CPU through aremote machine communication link 1325.

As illustrated in FIG. 13, the CPU may receive any of a number of sensorreadings and/or other date from the remote machine such as valvepositions, GPS or other positioning, laser plane, accelerometer, enginespeed, vehicle speed, sound sensors, circuit pressures, cylinderpositions, pedal and/or level positions, and switch positions. Thesensor readings and/or other data may be interpreted by the CPU toprovide feedback force to the JSE. Reciprocally, the CPU may translatesignals from the JSE into commands to actuate one or more of the systemsof the remote machine, such as varying a cylinder position, vehiclespeed, or any of the other systems producing the sensor readings and/ordata identified above.

Additionally, one or more JSEs may be employed to control one or moreremote machines. Also, more than one CPU may be employed.

FIG. 14 is a diagram 1400 showing an input torque vs. angle of actuationcurve 1410, similar to that shown in FIG. 10. FIG. 14 includes a jump-upregion 450, pull out region 1070, and return region 1075 similar tothose shown in FIG. 6 above.

However, as shown in FIG. 14, the fore warning bumper feel at any angleregion 1460 may be controlled by the CPU to take place at any angle thatis determined by the CPU and several examples of angles that may bechosen by the CPU are shown in dotted lines. Additionally, the hold atany angle region 1470 may be controlled by the CPU to take place at anyangle determined by the CPU and several examples of angles that may bechosen by the CPU are shown in dotted lines.

As noted in FIG. 14, the PCU logic may change the bumper feel to adetermined position that may be optimal for a specific application.Additionally, the CPU logic may slide a hold to a reduced position.

The ability of the CPU to configure the angle at which the fore warningbumper feel at any angle region 1460 and hold at any angle region 1470occur may be especially helpful to a remote user of the JSE because theJSE may provide force feedback that may allow the remote use to feelmore like they are on-site operating the machine directly.

Stated another way, the force versus input lever angle curve shows thatthe forewarning bumper feel may be varied in position. Also a lever in ahold position may have the hold reduced until the lever slides to areduced angle hold position. The CPU and operator may adjust the variousbumper feel angles and the variable hold positions to optimize vehicleand job site performance.

FIG. 15 illustrates an exterior view of a compact JSE 1500 according toone embodiment of the invention. The compact JSE 1500 includes a userinteraction portion 1510, a flexible boot 1520, and a control portion1540. Additionally, the user interaction portion 1510 includes a firsttop button 1512, a second top button 1514, a third top button 1516, anda trigger button 1518. This trigger may be used as a so called“dead-man” switch for vehicles such as cranes. Other proportionalswitches known in the industry may also be configured.

FIG. 16 illustrates a detailed view of the compact JSE 1500 of FIG. 15.As shown in FIG. 16, the compact JSE 1500 eliminates the bias spring andthe other parts in the force sensing cartridge. The compact JSE 1500also shows a spherical style pivot assembly as opposed to a U-jointstyle pivot shown in some other embodiments. Additionally the compactJSE 1500 may be substituted to function similarly to any embodimentdisclosed herein.

As shown in FIG. 16, the compact JSE 1500 includes a handle assembly1605, a boot 1610, a pivot assembly 1615, a force sensing cartridge1620, a plug 1621, a compliant washer 1625, a FSR sensor 1630, a circuitboard 1635, a body 1640, and an electronics container 1645.

In operation, the plug 1621 is forced down by increasing angulardisplacement of the handle assembly 1605. This force or torque isdirectly sensed by the force sensing cartridge 1620. The force sensingcartridge 1620 then relays a signal indicative of the sensed force tothe electronics container 1645 where the signal may be furthertransmitted.

In one embodiment, FIG. 16 illustrates a compact electronic Joystickcalled herein as JSEC. This embodiment may be modified to perform thefunction outlined in the other embodiments. The JSEC is more compact andhas fewer parts. The pivot joint shown may be a spherical type with aball or pin to restrain twist motion of handle assembly 1605. This pivotjoint has three parts instead of six parts in a typical U-joint stylepivot. Additionally, the center pivot position is more exact than aU-joint. The boot 1601 may be replaced with the spherical cup allowingbetter alignment of centers. The force sensing cartridge 1620 haseliminated the cup and bias spring. The compliant washer 1625 may have asteel abutment face to improve cycle life. The FSR 1630 does not havesharp bend in the lead wire connection strip improving durability. Thecircuit board 1635 is packaged in a protective box 1645. The body 1640is compact in size.

In one example, construction equipment may use pilot joystick and singleaxis pilot controls for operator input devices. The typical low effortsand feel feed back to the operator leads to less operator fatigue andhigher productivity. This JSE may produce the same low efforts andoperator feel feedback but produce an electric or electronic outputsignal. This may be used for remote control or lower cost wire versuspilot line routing.

Also the electric signal may be modified by other signals on the vehiclefor added features. These include automated cycle and cut to grade usinglaser planes. The hold at full angle is a feature used on constructionvehicles such as wheel loaders and dozers. This helps automate theloading cycle by predetermining the implement height and angle. Thisalso helps hold the implement in float position. This reduces armfatigue since the load to hold at an angle is done by the hold coil.Hystat drives use input joysticks that may have productivity benefits byproviding hold at max angle. Buttons may be included on the handle justlike on pilot controllers.

The variable feel feedback and hold at any angle provides more vehiclefeatures. For example, if the ride is smooth the arm loads may bereduced. If the ride is rough the input torque may be increased.Additionally, a variable speed unit such as a winch and/or a crane mayhave the desired implement speed held and recalled by the electroniccontrols.

Also, an operator might have feel preferences so the vehicle may recallpre-set levels. The operator may use the other buttons or controls toadjust feel feedback amounts and positions to customize feel andoptimize performance.

Additionally, different construction jobs are done by the same vehicle.The optimum input feel variables may be then changed for differentvehicle job functions.

Also, a vehicle and job site task performance may be learned andimproved by using the variable bumper feel feedback and the variablehold and lever slide to a reduced more optimum position. This allowsmore novice operators to more quickly learn to be more expert operatorswith improved vehicle performance measurements such as: dirt moved, fuelused, noise produced and time to produce the desired final landcontours.

In one or more of the above-identified embodiments, although electronicsmay drift as much as 10-15%, the JSE auto-calibration may auto-calibrateto within 1-2%.

In one or more of the above-identified embodiments, in order to preventovershoot and accidental operation of an opposite direction, the JSE maydetermine when the lever passes zero and a spike of hold force for afraction of a second may be programmed in to be provided in order toprevent the actuation in the opposite direction. Further, the JSE mayalso detect when the lever is approaching zero and then dial in a forcefunction of the operator's choosing or may provide a predetermined forcefunction.

In one or more of the above-identified embodiments, the JSE forcefeedback may be adjusted based on the materials being processed. Forexample, when moving lighter materials, an operator may desire a higherforce feedback. This may provide the operator with a greater sense of“feel” of the materials.

In one or more of the above-identified embodiments, when an operator isv-ditching a certain shape, for example, the contour of the ditching istypically the same. Consequently, the operator may program in thecontour to the JSE for ease of actuation. The JSE may further be trainedfor other cycles desired by the operator.

Additionally, the JSE may learn such cycles through observation withoutoperator control. For example, if the JSE recognizes that the operatoris performing similar cycles, for example by monitoring the raising andlowering of the bucket and the accelerometer of the vehicle, then theJSE may provide an alteration to the force feedback curve to reduceoperator strain/effort. The alteration may be provided automatically,may be configured to signal to an operator when the alteration isoccurring, and/or may be an option selectable by an operator.

For example, the JSE may observe a sequence of 4-5 repetitions and maythen be auto-calibrated to slide to a desired position and then hold. Inone embodiment, the operator may simply let go while the JSE leverand/or tool such as bucket or blade, for example, are brought to or nearto a pre-learned position.

Additionally, the JSE may use the predetermined sequence to slide to alesser position that is more optimal to the observed cycle. For example,if an operator is considerably overshooting a dump height, the JSE mayslide to the correct dump height.

Also, systems discussed above, such as with regard to FIG. 5, thatinclude an electromagnetic system for providing force feedback to a usermay be referred to as electromagnetic force feedback system

While particular elements, embodiments, and applications of the presentinvention have been shown and described, it is understood that theinvention is not limited thereto because modifications may be made bythose skilled in the art, particularly in light of the foregoingteaching. It is therefore contemplated by the appended claims to coversuch modifications and incorporate those features which come within thespirit and scope of the invention.

The invention claimed is:
 1. A Joystick Electronic System (JSE)including: a handle assembly attached to a pivot assembly and rotatingabout a pivot point; and a spherical cup attached to and disposed aroundsaid handle assembly, wherein said spherical cup is angularly displacedwhen said handle assembly is angularly displaced by an operator, whereinsaid spherical cup is composed of a magnetic material; and a magneticassembly composed of one or more electro-magnets attached to the base ofsaid pivot assembly by a bracket, wherein said bracket is not attachedto said handle assembly, wherein said bracket also positions saidmagnetic assembly proximal to said spherical cup, wherein said sphericalcup includes an inside surface disposed toward said handle assembly,wherein said bracket positions said magnetic assembly proximal to saidinside surface of said spherical cup, wherein said magnetic assembly isenergized to induce a magnetic attraction between said magnetic assemblyand said spherical cup, wherein said magnetic attraction alters theforce required to angularly displace said handle assembly, wherein saidmagnetic assembly positioned by said bracket remains stationary whensaid spherical cup is angularly displaced, wherein another magneticassembly composed of one or more electro-magnets are positioned ninetydegrees to the said first magnetic assembly wherein this second magneticassembly is also attached to the base of the said pivot assembly by abracket in like manor as the first said magnetic assembly, wherein saidsecond magnetic assembly is energized to induce a magnetic attractionbetween said second magnetic assembly and said spherical cup, andwherein said magnetic attraction alters the force to angularly displacesaid handle assembly in the direction orthogonal to said first magneticassembly resulting in a torque that can be felt by said handle operatorin that said orthogonal direction.
 2. The system of claim 1 furtherincluding, wherein one and or both of the orthogonal handle actuationpositions are electronically measured and wherein said magneticattraction between said magnetic assembly and said spherical cup differswhen said handle assembly is angularly displaced at a plurality ofangular displacements, resulting in different forces required toangularly displace said handle assembly at said different angles in thepredetermined direction and or directions.
 3. The system of claim 1further including, wherein one and or both of the orthogonal handleactuation positions are electronically measured and wherein saidmagnetic attraction between said magnetic assembly and said sphericalcup differs when said handle assembly is angularly displaced at aplurality of angular displacements, resulting in different forcesrequired to angularly displace said handle assembly at said differentangles in the predetermined direction and or directions.
 4. The systemof claim 3 further including, wherein one and or both of the orthogonalhandle actuation positions are electronically measured wherein saidmagnetic attraction between said magnetic assembly and said sphericalcup differs when said handle assembly is angularly displaced at aplurality of angular displacements, resulting in different forcesrequired to angularly displace said handle assembly at said differentangles in the predetermined direction and or directions.
 5. The systemof claim 3 further including, wherein the level of the magneticattraction at a given displacement angle increases by at least 20percent in 2 degrees or less of angular displacement and additional andsignificant operator handle input torque is required to actuate thehandle beyond said angle thus producing a forewarning handle torquefeedback.
 6. The system of claim 5 further including, wherein the levelof the magnetic attraction in one or more directions at a predeterminedangle is equal to or greater than the handle return force to hold saidhandle at that angle in that direction of motion.
 7. The system of claim5 further including, wherein the operator, the vehicle or the jobsitecomputer system has determined that a direction of control that is heldby the electromagnetic system at a reduced angle of handle actuation ina control direction and then allows the magnetic force to be reducedslightly wherein the handle angle slides to a new lesser position ofhold angle.
 8. The system of claim 5 further including, wherein theoperator, the vehicle or the jobsite computer system has determined alimit to one or more joystick actuation directions and then sets theelectromagnetic system to have a forewarning force feel feedback at anangle in a direction of handle actuation to assist the operator frompushing beyond said angle but not blocking the operator from pushing thehandle beyond said angle.
 9. The system of claim 1 further including,wherein said magnetic attraction is adjusted based at least in part onsensed movements of a vehicle in which said JSE is positioned.
 10. AJoystick Electronic System (JSE) including: a handle assembly attachedto a pivot assembly and rotating about a pivot point; and a sphericalcup attached to and disposed around said handle assembly, wherein saidspherical cup is angularly displaced when said handle assembly isangularly displaced by an operator, wherein said spherical cup iscomposed of a magnetic material; and a magnetic assembly composed of oneor more electro-magnets attached to the base of said pivot assembly by abracket, wherein said bracket also positions said magnetic assemblyproximal to said spherical cup, wherein said spherical cup includes aninside surface disposed toward said handle assembly, wherein saidbracket positions said magnetic assembly proximal to said inside surfaceof said spherical cup, wherein said magnetic assembly is energized toinduce a magnetic attraction between said magnetic assembly and saidspherical cup, wherein said magnetic attraction alters the forcerequired to angularly displace said handle assembly, and wherein theoperator can vary the amount that one or more magnetic assembly areenergized by the said handle operator by actuating a button or toggleswitch, wherein the said magnetic attraction alters the force toangularly displace said handle assembly in a predetermined direction.11. The system of claim 10 further including, wherein said magneticattraction is adjusted based at least in part on sensed movements of avehicle in which said JSE is positioned.
 12. A Joystick ElectronicSystem (JSE) including: a handle assembly attached to a pivot assemblyand rotating about a pivot point; and a spherical cup attached to anddisposed around said handle assembly, wherein said spherical cup isangularly displaced when said handle assembly is angularly displaced byan operator, wherein said spherical cup is composed of a magneticmaterial; and a magnetic assembly composed of one or moreelectro-magnets attached to the base of said pivot assembly by abracket, wherein said bracket also positions said magnetic assemblyproximal to said spherical cup, wherein said spherical cup includes aninside surface disposed toward said handle assembly, wherein saidbracket positions said magnetic assembly proximal to said inside surfaceof said spherical cup, wherein said magnetic assembly is energized toinduce a magnetic attraction between said magnetic assembly and saidspherical cup, wherein said magnetic attraction alters the forcerequired to angularly displace said handle assembly, wherein anothermagnetic assembly composed of one or more electro-magnets are positionedninety degrees to the said first magnetic assembly, wherein this secondmagnetic assembly is also attached to the base of the said pivotassembly by a bracket in like manor as the first said magnetic assembly,wherein said second magnetic assembly is energized to induce a magneticattraction between said second magnetic assembly and said spherical cup,wherein said magnetic attraction alters the force to angularly displacesaid handle assembly in the direction orthogonal to said first magneticassembly resulting in a torque that can be felt by said handle operatorin that said orthogonal direction, and wherein the operator can vary theamount that one or more magnetic assembly are energized by the saidhandle operator by actuating a button or toggle switch, wherein the saidmagnetic attraction alters the force to angularly displace said handleassembly in a predetermined direction.